Swinging up and stabilizing an inverted pendulum by switching control

被引：1

作者：

Zhai, Guisheng ^{[1
]}

Okuno, Shohei ^{[1
]}

Imae, Joe ^{[1
]}

Kobayashi, Tomoaki ^{[1
]}

机构：

[1] Osaka Prefecture Univ, Dept Mech Engn, Osaka 5998531, Japan

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

switching control; inverted pendulum; swing up and stabilization; optimal control; state dependent Riccati equation (SDRE); energy dissipation;

D O I：

10.1109/ICMA.2007.4303597

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a, linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's, dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.

引用

页码：521 / 526

页数：6

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